CN113983039A - Hydraulic lifting mechanism cluster control system - Google Patents
Hydraulic lifting mechanism cluster control system Download PDFInfo
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- CN113983039A CN113983039A CN202111370702.5A CN202111370702A CN113983039A CN 113983039 A CN113983039 A CN 113983039A CN 202111370702 A CN202111370702 A CN 202111370702A CN 113983039 A CN113983039 A CN 113983039A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 75
- 238000011084 recovery Methods 0.000 claims description 36
- 230000005611 electricity Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 13
- 239000010720 hydraulic oil Substances 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 4
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- 230000001276 controlling effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000003921 oil Substances 0.000 description 15
- 238000005381 potential energy Methods 0.000 description 8
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/18—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors used in combination for obtaining stepwise operation of a single controlled member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
Abstract
The invention discloses a cluster control system of a hydraulic lifting mechanism, which can match loads of a plurality of hydraulic lifting systems on a production line and recycle the hydraulic energy of the plurality of hydraulic lifting systems.
Description
Technical Field
The invention relates to a cluster control system of a hydraulic lifting mechanism.
Background
The hydraulically driven lifting mechanism has wide application in the field of ferrous metallurgy, such as a steel coil transportation lifting trolley, a stepping heating furnace, a stepping steel coil conveyer and the like, and the equipment is mainly used for lifting and transporting heavy objects such as steel billets, steel coils and the like. Generally, such hydraulic lifting systems are not independent, a plurality of hydraulic lifting mechanisms are arranged on a production line, lifting hydraulic cylinders of the stepping lifting mechanisms need to lift and put down hundreds of tons or even thousands of tons of weights in a cycle during the working process, and the lifted object has large gravitational potential energy during the descending process. Only a small amount of technologies on the market at present recover and recycle the gravitational potential energy of the equipment, and the technologies are all based on recovering and recycling the hydraulic energy by adopting a hydraulic accumulator, and the existing defects are as follows:
1. it is difficult to match the reference pressure of a variable load with a hydraulic accumulator
In general, the hydraulic accumulator has a nitrogen charge pressure or a nitrogen cylinder pressure as a minimum working reference pressure at which to match the working pressure. In actual work, the load is not constant and the variation range is very large, so that the pressure of a group of constant hydraulic accumulators cannot meet the normal work requirement of the lifting equipment actually, the loads which are good and variable are difficult to match only by matching a plurality of groups of pressure accumulators, the difficulty of control is increased, and the failure rate of the equipment is improved.
2. Energy recovery and reuse among equipment during cluster control is difficult to achieve
The gravitational potential energy of the single lifting mechanism can be partially recovered through the hydraulic energy accumulator, but the recovered hydraulic energy is difficult to transmit among a plurality of single mechanisms in the cluster by considering the characteristics that the distance between the single lifting mechanisms is long and the hydraulic energy cannot be transmitted remotely.
Therefore, the problem that a plurality of hydraulic lifting mechanisms on a production line are difficult to match well changeable loads and hydraulic energy is difficult to recycle exists at present is faced, and the developed hydraulic lifting mechanism cluster control system which can match the loads of a plurality of hydraulic lifting systems on a production line and can recycle the hydraulic energy of the plurality of hydraulic lifting mechanisms is a technical problem to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a cluster control system of a hydraulic lifting mechanism, which aims to solve the problems that the existing hydraulic lifting system is difficult to match variable loads and the hydraulic energy is difficult to recycle.
In order to solve the technical problem, the invention provides a cluster control system of a hydraulic lifting mechanism, which comprises at least two groups of hydraulic lifting systems, at least two groups of first hydraulic control systems matched with the hydraulic lifting systems and a cluster motion controller respectively connected with the hydraulic lifting systems and the first hydraulic control systems; at least two first hydraulic control systems are connected to a direct current bus in parallel; the first hydraulic control system is used for converting hydraulic energy generated by descending of the hydraulic lifting system matched with the first hydraulic control system into electric energy and then transmitting the electric energy to the direct current bus or taking electricity from the direct current bus and then driving the corresponding hydraulic lifting system to work; the cluster motion controller is used for controlling the lifting action of the hydraulic lifting system and the electric energy distribution on the direct current bus.
Furthermore, the hydraulic lifting mechanism cluster control system also comprises at least one group of hydraulic recovery systems, and a second hydraulic control system and an energy recovery accumulator group which are matched with the hydraulic recovery systems; the second hydraulic control system is used for converting hydraulic energy generated by the descending of the hydraulic recovery system into electric energy and then transmitting the electric energy to the direct current bus or recovering the electric energy on the direct current bus to the energy accumulator group.
Furthermore, the hydraulic lifting mechanism cluster control system also comprises a brake resistor which is respectively connected with the direct current bus and the cluster motion controller; when the electric energy recovered by the accumulator group is larger than the recovery capacity, the electric energy exceeding the recovery capacity of the accumulator group is consumed through the brake resistor.
Furthermore, the hydraulic lifting system comprises a first hydraulic cylinder and a lifting mechanism arranged on a piston rod of the first hydraulic cylinder, and a first hydraulic control valve of the first hydraulic cylinder is respectively connected with the first hydraulic control system and the cluster motion controller.
Further, the first hydraulic control system comprises a first hydraulic pump for adjusting the flow rate of hydraulic oil entering and exiting the hydraulic lifting system and a first motor for driving the first hydraulic pump; a first hydraulic pump control valve of the first hydraulic pump is connected with the cluster motion controller; the first driver is connected with the cluster motion controller through the motor controller; the first driver is used for driving the first motor to work after taking electricity from the direct current bus and the power grid, and the first motor is used for converting hydraulic energy generated when the hydraulic lifting system descends into electric energy and then transmitting the electric energy to the direct current bus through the first driver.
Furthermore, the hydraulic recovery system comprises a second hydraulic cylinder and an actuating mechanism installed on a piston rod of the second hydraulic cylinder, and a second hydraulic control valve of the second hydraulic cylinder is connected with the energy accumulator group, the second hydraulic control system and the cluster motion controller respectively.
Further, the second hydraulic control system comprises a second hydraulic pump for adjusting the flow rate of hydraulic oil in and out of the hydraulic recovery system and a second motor for driving the second hydraulic pump; a second hydraulic pump control valve of the second hydraulic pump is connected with the cluster motion controller; the second driver is connected with the cluster motion controller through the motor controller; the second driver gets electricity from the direct current bus and the power grid and then drives the second motor to work, and the second motor converts hydraulic energy generated when the hydraulic recovery system descends into electric energy and then transmits the electric energy to the direct current bus through the second driver.
Further, the hydraulic lifting mechanism cluster control system also comprises a voltage detection device which is respectively connected with the direct current bus and the cluster motion controller.
The invention has the beneficial effects that: the hydraulic lifting system load matching device has the advantages that the hydraulic lifting systems on one production line can be subjected to load matching, the hydraulic energy of the hydraulic lifting systems can be recycled, the hydraulic lifting system load matching device has the advantages of being good in energy-saving effect, low in investment and operation cost, simple in control and structure and the like, is an optimal energy-saving technology for a hydraulic lifting system cluster, and is very suitable for being applied to control of cluster equipment comprising a stepping heating furnace lifting mechanism, a stepping steel coil conveyor lifting mechanism and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
wherein: in the figure: 1. a cluster motion controller 21, a first motor I; 22. a first motor II; 23. a second motor; 31. a first hydraulic pump I; 32. a first hydraulic pump II; 33. a second hydraulic pump; 41. a first hydraulic pump control valve I; 42. a first hydraulic pump control valve II; 43. a second hydraulic pump control valve; 51. a first hydraulic control valve I; 52. a first hydraulic control valve II; 53. a second hydraulic control valve; 61. a first hydraulic cylinder I; 62. a first hydraulic cylinder II; 71. a lifting mechanism I; 72. a lifting mechanism II; 8. a second hydraulic cylinder; 9. an actuator; 10. an accumulator bank; 11. a pressure switch; 121. a first driver I; 122. a first driver II; 123. a second driver; 13. a motor controller; 14. a direct current bus; 15. a DC bus voltage detection device; 16. a brake resistor; 17. and (4) a power grid.
Detailed Description
The hydraulic lifting mechanism cluster control system shown in fig. 1 comprises at least two groups of hydraulic lifting systems (including a hydraulic lifting system I and a hydraulic lifting system II hereinafter), at least two groups of first hydraulic control systems matched with the hydraulic lifting systems, at least one group of hydraulic recovery systems, at least one group of energy recovery accumulator sets and second hydraulic control systems matched with the hydraulic recovery systems, and a cluster motion controller respectively connected with the hydraulic lifting systems, the first hydraulic control systems, the hydraulic recovery systems, the accumulator sets and the second hydraulic control systems; the first hydraulic control system and the second hydraulic control system are connected in parallel on a direct current bus; the cluster motion controller is used for controlling the lifting actions of the hydraulic lifting system and the hydraulic recovery system and the electric energy distribution on the direct current bus; the first hydraulic control system is used for transmitting electric energy generated by descending of the hydraulic lifting system to a direct current bus or driving the hydraulic lifting system to work after taking electricity from the direct current bus; the second hydraulic control system is used for converting hydraulic energy generated by the descending of the hydraulic recovery system into electric energy and then transmitting the electric energy to the direct current bus or recovering the electric energy on the direct current bus to the energy accumulator group.
When the hydraulic lifting system is put into operation, all parts of a single hydraulic lifting system, including pipelines, control circuits and related auxiliary devices, are connected as required, and then are connected in parallel through direct current buses among drivers or frequency converters on the basis, so that the hydraulic lifting cluster can be controlled on the premise of ensuring that the single hydraulic lifting system is installed without errors and is in a controlled state.
Firstly, assuming that one set of hydraulic lifting system lifting hydraulic cylinders in a hydraulic lifting cluster is at the lowest position, the hydraulic lifting system lifting hydraulic cylinders are required to carry out lifting action under the control of a hydraulic pump at the beginning, and at this time, a motor corresponding to the hydraulic lifting system is in a state of taking power from a power grid, and the energy for lifting heavy objects is all from the power grid; then the hydraulic cylinder of the lifting mechanism is controlled to move downwards through a hydraulic pump or other control mechanisms, the driving motor is in a power generation state under the action of gravity, and the motor in the two-quadrant or four-quadrant transmits electric energy to the direct current bus. The hydraulic lifting system of the whole cluster is also in the same way, and after the hydraulic lifting system is lifted for a plurality of times independently, the single set of hydraulic lifting system is ensured to be in a controllable state. When the motor of the hydraulic recovery system connected in parallel on the direct current bus works, electricity can be taken from a power grid, and the gravitational potential energy of the lifting mechanism can be absorbed to recover the electric energy on the direct current bus. Firstly, selecting a hydraulic lifting system I in a cluster to start to rise according to the requirement of process rhythm, wherein the motor takes electricity from a power grid, the motor drives a hydraulic pump, a lifting hydraulic cylinder is controlled to rise through a hydraulic control valve group, after the lifting hydraulic cylinder rises to a position, the cluster motion controller controls a hydraulic lifting system II to rise, the hydraulic lifting system I is controlled to fall, the hydraulic lifting system I drives the hydraulic pump to drive the motor to be in a power generation state under the action of self-gravity force, so that electric energy is transmitted to a direct current bus, the electric energy is provided for the motor of the hydraulic lifting system II, and the insufficient part can take electricity from the power grid; when the hydraulic lifting system I descends in place, and the hydraulic lifting system II also ascends in place, the cluster motion controller controls the hydraulic lifting system II to descend and controls the hydraulic lifting system I to ascend, the hydraulic lifting system II drives the hydraulic pump to drive the motor to be in a power generation state under the action of the gravity force, so that electric energy is transmitted to the direct current bus, the electric energy is provided for the ascending hydraulic lifting system I motor, and insufficient parts can get electricity from a power grid. The two groups of hydraulic lifting systems circularly and alternately ascend and descend in the mode, and the recovered electric energy is directly used without adding energy storage devices such as a super capacitor and the like.
When the electric energy is recovered by descending one group of hydraulic lifting systems under special working conditions such as blowing-out and production halt, and when the electric energy is not used by ascending the hydraulic lifting systems, the cluster motion controller controls the recovered electric energy to drive the motor of the hydraulic recovery system connected in parallel on the direct current bus to act, and drives the hydraulic pump to act to supplement oil for the energy accumulator group arranged in the hydraulic recovery system, so that the electric energy is converted into hydraulic energy to be stored in the energy accumulator group.
In addition, the hydraulic lifting mechanism cluster control system also comprises a brake resistor which is respectively connected with the direct current bus and the cluster motion controller; when the electric energy recovered by the accumulator group is larger than the recovery capacity, the electric energy exceeding the recovery capacity of the accumulator group is consumed through the brake resistor.
The hydraulic lifting system comprises a first hydraulic cylinder and a lifting mechanism arranged on a piston rod of the first hydraulic cylinder, and a first hydraulic control valve of the first hydraulic cylinder is connected with the first hydraulic control system and the cluster motion controller respectively. The first hydraulic control system comprises a first hydraulic pump for adjusting the flow rate of hydraulic oil of the hydraulic lifting system and a first motor for driving the first hydraulic pump, the first motor can adjust the hydraulic oil of the hydraulic lifting system through the first hydraulic pump, and the speed adjusting range can be adjusted in the positive direction and the negative direction; a first hydraulic pump control valve of the first hydraulic pump is connected with the cluster motion controller; the first driver is connected with the cluster motion controller through the motor controller; the first driver is used for taking electricity from the direct current bus and the power grid and then driving the first motor to work, and the first motor is used for converting hydraulic energy generated when the hydraulic lifting system descends into electric energy and then transmitting the electric energy to the direct current bus through the first driver; wherein, the first motor can adopt a servo motor.
The hydraulic recovery system comprises a second hydraulic cylinder and an actuating mechanism arranged on a piston rod of the second hydraulic cylinder, wherein a second hydraulic control valve of the second hydraulic cylinder is respectively connected with the energy accumulator group, the second hydraulic control system and the cluster motion controller. The second hydraulic control system comprises a second hydraulic pump for adjusting the flow rate of hydraulic oil in and out of the hydraulic recovery system and a second motor for driving the second hydraulic pump; the second motor can adjust the hydraulic oil of the hydraulic recovery system through the second hydraulic pump, and the speed regulation range can be adjusted in the positive direction and the negative direction; a second hydraulic pump control valve of the second hydraulic pump is connected with the cluster motion controller; the second driver is connected with the cluster motion controller through the motor controller; the second driver gets electricity from the direct current bus and the power grid and then drives the second motor to work, and the second motor converts hydraulic energy generated when the hydraulic recovery system descends into electric energy and then transmits the electric energy to the direct current bus through the second driver; wherein, the second motor can adopt a servo motor.
The following further describes the specific implementation by taking a hydraulic lifting mechanism cluster control system comprising two sets of hydraulic lifting systems and one set of hydraulic recovery system as an example:
first, the first driver I121 of the hydraulic lifting system takes power from the grid 17, the first motor I21, under the driving of the first electric motor I21 and the control of the first hydraulic pump control valve I41, the first hydraulic pump I31 starts to supply pressure oil to the rodless cavity of the first hydraulic cylinder I61 through the first hydraulic control valve I51, the first hydraulic cylinder I61 starts to rise, this process is continued until the first hydraulic cylinder I61 sends a displacement stop signal, after which, the lowering action of the first hydraulic cylinder I61 is started, under the gravity action of a lifting mechanism I71, pressure oil of a hydraulic cylinder becomes active power oil, a first hydraulic control valve I51 and a first hydraulic pump control valve I41 are switched under the control of the cluster motion controller 1, the pressure oil drives a first motor I21 to generate electricity through a first hydraulic pump I31, electric energy is fed back to a direct current bus 14, and a bus voltage value is fed back to the cluster motion controller 1 by a direct current bus voltage detection device 15; the lifting mechanism I71 is controlled to repeatedly lift several times in the above manner until the hydraulic and electric components operate normally. The operation of the lifting mechanism I71 is stopped, and the lifting mechanism II72 is controlled to repeatedly lift several times by the first motor II22, the first hydraulic pump II32, and the first hydraulic pump control valve II42 in the operation mode of the lifting mechanism I71 until the hydraulic pressure and the electric components operate normally.
Then, the operation of the lifting mechanism I71 and the lifting mechanism II72 is stopped, the second actuator 123 takes power from the power grid 17, after the start, the second motor 23 is driven, the second hydraulic pump 33 starts to supply pressure oil to the rodless chamber of the second hydraulic cylinder 8 through the second hydraulic control valve 53 under the drive of the motor and the control of the second hydraulic pump control valve 43, the second hydraulic cylinder 8 starts to extend, the actuator 9 is driven, and the process is continued until the second hydraulic cylinder 8 sends a displacement stop signal, at this time, the second hydraulic control valve 53 is switched under the control of the cluster motion controller 1, the second actuator 123 still takes power from the power grid 17, the second motor 23 is driven, the second hydraulic pump 33 starts to supply pressure oil to the rod chamber of the second hydraulic cylinder 8 through the second hydraulic control valve 53 under the drive of the second motor 23 and the control of the second hydraulic pump control valve 43, the second hydraulic cylinder 8 starts to retract, this process is continued until the second hydraulic cylinder 8 issues a displacement stop signal; the second hydraulic cylinder 8 is controlled to operate several times repeatedly until the hydraulic and electric components operate normally. When the hydraulic recovery system acts, the second driver 123 takes power from the power grid 17, and the energy storage group 10 of the second driver plays roles in stabilizing voltage and supplementing oil. So far, three groups of hydraulic lifting systems all independently normally act.
The cluster motion control is then entered by the cluster motion controller 1. Firstly, a lifting mechanism I71 in a cluster is selected to start to rise, at the moment, a first driver I121 gets power from a power grid 17, a first motor I21 drives a first hydraulic pump I31, a first hydraulic cylinder I61 is controlled to rise through a first hydraulic control valve I51, the first hydraulic cylinder I61 rises to the right position and then sends a signal to a cluster motion controller 1, the cluster motion controller 1 controls a lifting mechanism II72 to rise and controls a lifting mechanism I71 to fall, pressure oil in the first hydraulic cylinder I61 is changed into active pressure oil under the action of self gravity of the lifting mechanism I71, an oil port of the first hydraulic pump I31 is reversed under the control of the first hydraulic control valve I41, the pressure oil drives the first motor I21 to be in a power generation state, and gravitational potential energy is converted into electric energy to be transmitted to a direct current bus 14; when the lifting mechanism I71 descends, the first driver II122 absorbs electric energy transmitted to the direct current bus 14 by the lifting mechanism I71, the first motor II22 drives the first hydraulic pump II32, the first hydraulic control valve II52 controls the first hydraulic cylinder II62 to ascend, the first hydraulic control valve II52 sends a signal to the cluster motion controller 1 after ascending in place, the cluster motion controller 1 controls the lifting mechanism II72 to descend again, the lifting mechanism I71 ascends, the lifting mechanism II72 descends and converts gravitational potential energy into electric energy in the same way to transmit the electric energy to the direct current bus 14, and the electric energy is directly provided for the lifting mechanism I71 to ascend. The ascending and descending speeds of the lifting mechanism I71 and the lifting mechanism II72 are matched through the cluster motion controller 1, the rhythm is basically consistent, when one of the lifting mechanism I71 and the lifting mechanism II72 ascends, the other one of the lifting mechanism I and the lifting mechanism II72 descends, the descending lifting mechanism converts the gravitational potential energy into electric energy which is transmitted to the direct current bus 14 and directly provides the electric energy for the ascending lifting mechanism, the energy is lost during conversion, and when the electric energy converted by the gravitational potential energy is not enough to provide one of the lifting mechanisms to ascend, the insufficient electric energy can be directly supplemented by the power grid 17.
The second hydraulic cylinder 8 is controlled by the cluster motion controller 1, and the second actuator 123 is connected in parallel to the dc bus 14, but the operation is independent and does not need to be interlocked with the lifting mechanism I71 and the lifting mechanism II 72. When the lifting mechanism I71 and the lifting mechanism II72 rise and fall, the electric energy required by the action of the second driver 123 is directly taken from the power grid 17. When the second hydraulic cylinder 8 is operated, the second electric machine 23 is in a motor state, absorbs electric energy from the grid 17, drives the second hydraulic pump 33, and controls the second hydraulic cylinder 8 to operate through the second control valve 53, and in this state, the accumulator group 10 stabilizes the system pressure and supplements the system pressure oil. Under special conditions, such as shutdown or maintenance of one of the lifting mechanisms, when only one lifting mechanism is operated, the lifting mechanism descends the electric energy transmitted to the direct current bus 14 to drive the second motor 23 to drive the second hydraulic pump 33 to provide pressure oil for the second hydraulic cylinder 8, when the second hydraulic cylinder 8 is not operated, the pressure oil is stored in the accumulator group 10, after the accumulator reaches the set pressure, the pressure switch 11 sends a signal to the cluster motion controller 1, and the cluster motion controller 1 controls the electric energy transmitted to the direct current bus 14 to be consumed by braking through the braking resistor 16 connected in parallel to the direct current bus 14.
In all action processes, the motor controller 13 controls a first driver I121, a first driver II122 and a second driver 123 which are connected to the DC bus 14 in parallel, the servo motor controller 13 is in bus communication with the cluster motion controller 1, the cluster motion controller 1 serves as an upper computer to match actions among lifting mechanisms, controls all hydraulic and electrical equipment connected to the DC bus 14 in parallel, and performs unified management and distribution on electric energy on the DC bus 14.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. A hydraulic lifting mechanism cluster control system is characterized by comprising at least two groups of hydraulic lifting systems, at least two groups of first hydraulic control systems matched with the hydraulic lifting systems and a cluster motion controller respectively connected with the hydraulic lifting systems and the first hydraulic control systems; at least two first hydraulic control systems are connected to a direct current bus in parallel; the first hydraulic control system is used for converting hydraulic energy generated by descending of the hydraulic lifting system matched with the first hydraulic control system into electric energy and then transmitting the electric energy to the direct current bus or taking electricity from the direct current bus and then driving the corresponding hydraulic lifting system to work; the cluster motion controller is used for controlling the lifting action of the hydraulic lifting system and the electric energy distribution on the direct current bus.
2. The hydraulic lift mechanism cluster control system of claim 1, further comprising at least one hydraulic recovery system and a second hydraulic control system and energy recovery accumulator bank cooperating with the hydraulic recovery system; the second hydraulic control system is used for converting hydraulic energy generated by the descending of the hydraulic recovery system into electric energy and then transmitting the electric energy to the direct current bus or recovering the electric energy on the direct current bus to the energy accumulator group.
3. The hydraulic lifting mechanism cluster control system of claim 2, further comprising braking resistors connected to the dc bus and the cluster motion controller, respectively; when the electric energy recovered by the accumulator group is larger than the recovery capacity, the electric energy exceeding the recovery capacity of the accumulator group is consumed through the brake resistor.
4. A hydraulic lifting mechanism cluster control system according to any of claims 1-3, characterized in that the hydraulic lifting system comprises a first hydraulic cylinder and a lifting mechanism mounted on the piston rod of the first hydraulic cylinder, and the first hydraulic control valve of the first hydraulic cylinder is connected to the first hydraulic control system and the cluster motion controller, respectively.
5. The hydraulic lift mechanism cluster control system of any of claims 1-3, wherein the first hydraulic control system comprises a first hydraulic pump for regulating a flow rate of hydraulic oil to and from the hydraulic lift system and a first motor for driving the first hydraulic pump; a first hydraulic pump control valve of the first hydraulic pump is connected with the cluster motion controller; the first driver is connected with the cluster motion controller through the motor controller; the first driver is used for driving the first motor to work after taking electricity from the direct current bus and the power grid, and the first motor is used for converting hydraulic energy generated when the hydraulic lifting system descends into electric energy and then transmitting the electric energy to the direct current bus through the first driver.
6. The hydraulic lifting mechanism cluster control system according to claim 2 or 3, wherein the hydraulic recovery system comprises a second hydraulic cylinder and an actuator mounted on a piston rod of the second hydraulic cylinder, and a second hydraulic control valve of the second hydraulic cylinder is connected with the accumulator group, the second hydraulic control system and the cluster motion controller respectively.
7. The hydraulic lift mechanism cluster control system of claim 2 or 3, wherein the second hydraulic control system comprises a second hydraulic pump for regulating a hydraulic oil flow rate to and from the hydraulic recovery system and a second motor for driving the second hydraulic pump; a second hydraulic pump control valve of the second hydraulic pump is connected with the cluster motion controller; the second driver is connected with the cluster motion controller through the motor controller; the second driver gets electricity from the direct current bus and the power grid and then drives the second motor to work, and the second motor converts hydraulic energy generated when the hydraulic recovery system descends into electric energy and then transmits the electric energy to the direct current bus through the second driver.
8. The hydraulic lift mechanism cluster control system of claim 1, further comprising voltage sensing devices connected to the dc bus and the cluster motion controller, respectively.
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